Merge pull request #23 from bdring/Devt

Devt
bdring · Sep 24, 2021 · 254ee24 · 254ee24
2 parents 33bacf5 + c4be515
commit 254ee24
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Showing 40 changed files with 482 additions and 380 deletions.
diff --git a/.gitignore b/.gitignore
@@ -22,3 +22,4 @@ FluidNC.vcxproj.filters
 packages/
 pio_machine.h
 project.checksum
+version.cpp
diff --git a/FluidNC/src/Control.cpp b/FluidNC/src/Control.cpp
@@ -32,15 +32,14 @@ void Control::group(Configuration::HandlerBase& handler) {
     handler.item("macro3", _macro3._pin);
 }
 
-void Control::report(char* status) {
-    _safetyDoor.report(status);
-    _reset.report(status);
-    _feedHold.report(status);
-    _cycleStart.report(status);
-    _macro0.report(status);
-    _macro1.report(status);
-    _macro2.report(status);
-    _macro3.report(status);
+String Control::report() {
+    return _safetyDoor.report() + _safetyDoor.report() + _reset.report() + _feedHold.report() + _cycleStart.report() + _macro0.report() +
+           _macro1.report() + _macro2.report() + _macro3.report();
+}
+
+bool Control::stuck() {
+    return _safetyDoor.get() || _reset.get() || _feedHold.get() || _cycleStart.get() || _macro0.get() || _macro1.get() || _macro2.get() ||
+           _macro3.get();
 }
 
 // Returns if safety door is ajar(T) or closed(F), based on pin state.

diff --git a/FluidNC/src/Control.h b/FluidNC/src/Control.h
@@ -28,8 +28,9 @@ class Control : public Configuration::Configurable {
     // Configuration handlers.
     void group(Configuration::HandlerBase& handler) override;
 
-    bool system_check_safety_door_ajar();
-    void report(char* status);
+    bool   stuck();
+    bool   system_check_safety_door_ajar();
+    String report();
 
     ~Control() = default;
 };
diff --git a/FluidNC/src/ControlPin.cpp b/FluidNC/src/ControlPin.cpp
@@ -8,7 +8,9 @@
 void IRAM_ATTR ControlPin::handleISR() {
     bool pinState = _pin.read();
     _value        = pinState;
-    _rtVariable   = pinState;
+    if (pinState) {
+        _rtVariable = pinState;
+    }
 }
 
 void ControlPin::init() {
@@ -22,12 +24,17 @@ void ControlPin::init() {
     }
     _pin.setAttr(attr);
     _pin.attachInterrupt<ControlPin, &ControlPin::handleISR>(this, CHANGE);
+    _rtVariable = false;
+    _value      = _pin.read();
+    // Control pins must start in inactive state
+    if (_value) {
+        log_error(_legend << " pin is active at startup");
+        rtAlarm = ExecAlarm::ControlPin;
+    }
 }
 
-void ControlPin::report(char* status) {
-    if (get()) {
-        addPinReport(status, _letter);
-    }
+String ControlPin::report() {
+    return get() ? String(_letter) : String("");
 }
 
 ControlPin::~ControlPin() {

diff --git a/FluidNC/src/ControlPin.h b/FluidNC/src/ControlPin.h
@@ -22,7 +22,7 @@ class ControlPin {
     void init();
     bool get() { return _value; }
 
-    void report(char* status);
+    String report();
 
     ~ControlPin();
 };
diff --git a/FluidNC/src/Error.cpp b/FluidNC/src/Error.cpp
@@ -45,6 +45,7 @@ std::map<Error, const char*> ErrorNames = {
     { Error::GcodeG43DynamicAxisError, "Gcode G43 dynamic axis error" },
     { Error::GcodeMaxValueExceeded, "Gcode max value exceeded" },
     { Error::PParamMaxExceeded, "P param max exceeded" },
+    { Error::CheckControlPins, "Check control pins" },
     { Error::FsFailedMount, "Failed to mount device" },
     { Error::FsFailedRead, "Read failed" },
     { Error::FsFailedOpenDir, "Failed to open directory" },

diff --git a/FluidNC/src/Error.h b/FluidNC/src/Error.h
@@ -49,6 +49,7 @@ enum class Error : uint8_t {
     GcodeG43DynamicAxisError    = 37,
     GcodeMaxValueExceeded       = 38,
     PParamMaxExceeded           = 39,
+    CheckControlPins            = 40,
     FsFailedMount               = 60,  // SD Failed to mount
     FsFailedRead                = 61,  // SD Failed to read file
     FsFailedOpenDir             = 62,  // SD card failed to open directory

diff --git a/FluidNC/src/Machine/Axis.cpp b/FluidNC/src/Machine/Axis.cpp
@@ -79,7 +79,7 @@ namespace Machine {
 
     // returns the offset between the pulloffs
     // value is positive when motor1 has a larger pulloff
-    float Axis::pulloffOffset() { return _motors[1]->_pulloff - _motors[0]->_pulloff; }
+    float Axis::pulloffOffset() { return hasDualMotor()? _motors[1]->_pulloff - _motors[0]->_pulloff : 0.0f; }
 
     Axis::~Axis() {
         for (size_t i = 0; i < MAX_MOTORS_PER_AXIS; i++) {

diff --git a/FluidNC/src/Machine/Communications.h b/FluidNC/src/Machine/Communications.h
diff --git a/FluidNC/src/Machine/Homing.cpp b/FluidNC/src/Machine/Homing.cpp
@@ -300,11 +300,13 @@ namespace Machine {
                 for (int axis = 0; axis < n_axis; axis++) {
                     if (bitnum_is_true(motors, axis)) {
                         auto axisConfig = config->_axes->_axis[axis];
-                        pulloffOffset   = axisConfig->pulloffOffset();
-                        if (pulloffOffset != 0) {
-                            //log_info("Pulloff offset needed on axis " << axis << " of " << pulloffOffset);
-                            // TODO Do it
-                            run(motors & MOTOR1, false, false, pulloffOffset);
+                        if(axisConfig->hasDualMotor()){
+                            pulloffOffset   = axisConfig->pulloffOffset();
+                            if (pulloffOffset != 0) {
+                                //log_info("Pulloff offset needed on axis " << axis << " of " << pulloffOffset);
+                                // TODO Do it
+                                run(motors & MOTOR1, false, false, pulloffOffset);
+                            }
                         }
                     }
                 }

diff --git a/FluidNC/src/Machine/MachineConfig.cpp b/FluidNC/src/Machine/MachineConfig.cpp
@@ -40,7 +40,6 @@ namespace Machine {
         handler.section("control", _control);
         handler.section("coolant", _coolant);
         handler.section("probe", _probe);
-        handler.section("comms", _comms);
         handler.section("macros", _macros);
 
         handler.section("user_outputs", _userOutputs);
@@ -118,23 +117,6 @@ namespace Machine {
             }
         }
 
-        if (_comms == nullptr) {
-            log_info("Comms: using defaults");
-            _comms = new Communications();
-#ifdef ENABLE_WIFI
-            _comms->_apConfig = new WifiAPConfig();
-#endif
-        }
-
-#ifdef ENABLE_WIFI
-        // This is very helpful for testing YAML config files.  If things
-        // screw up, you can still connect and upload a new config.yaml
-        // TODO - Consider whether we want this for the long term
-        if (!_comms->_apConfig) {
-            _comms->_apConfig = new WifiAPConfig();
-        }
-#endif
-
         if (_macros == nullptr) {
             _macros = new Macros();
         }
@@ -310,7 +292,6 @@ namespace Machine {
         delete _sdCard;
         delete _spi;
         delete _control;
-        delete _comms;
         delete _macros;
     }
 }
diff --git a/FluidNC/src/Machine/MachineConfig.h b/FluidNC/src/Machine/MachineConfig.h
@@ -21,7 +21,6 @@
 #include "Axes.h"
 #include "SPIBus.h"
 #include "I2SOBus.h"
-#include "Communications.h"
 #include "UserOutputs.h"
 #include "Macros.h"
 
@@ -36,7 +35,6 @@ namespace Machine {
         Stepping*       _stepping    = nullptr;
         CoolantControl* _coolant     = nullptr;
         Probe*          _probe       = nullptr;
-        Communications* _comms       = nullptr;
         Control*        _control     = nullptr;
         UserOutputs*    _userOutputs = nullptr;
         SDCard*         _sdCard      = nullptr;

diff --git a/FluidNC/src/Main.cpp b/FluidNC/src/Main.cpp
@@ -49,7 +49,7 @@ void setup() {
         // Load settings from non-volatile storage
         settings_init();  // requires config
 
-        log_info("FluidNC " << GIT_TAG << GIT_REV);
+        log_info("FluidNC " << git_info);
         log_info("Compiled with ESP32 SDK:" << ESP.getSdkVersion());
 
         if (!SPIFFS.begin(true)) {
@@ -125,10 +125,8 @@ void setup() {
         register_client(&WebUI::telnet_server);
 #endif
 #ifdef ENABLE_BLUETOOTH
-        if (config->_comms->_bluetoothConfig) {
-            config->_comms->_bluetoothConfig->begin();
-            register_client(&WebUI::SerialBT);
-        }
+        WebUI::bt_config.begin();
+        register_client(&WebUI::SerialBT);
 #endif
         WebUI::inputBuffer.begin();
     } catch (const AssertionFailed& ex) {

diff --git a/FluidNC/src/ProcessSettings.cpp b/FluidNC/src/ProcessSettings.cpp
@@ -192,13 +192,27 @@ static Error toggle_check_mode(const char* value, WebUI::AuthenticationLevel aut
     }
     return Error::Ok;
 }
+static Error isStuck() {
+    // Block if a control pin is stuck on
+    if (config->_control->system_check_safety_door_ajar()) {
+        rtAlarm = ExecAlarm::ControlPin;
+        return Error::CheckDoor;
+    }
+    if (config->_control->stuck()) {
+        log_info("Control pins:" << config->_control->report());
+        rtAlarm = ExecAlarm::ControlPin;
+        return Error::CheckControlPins;
+    }
+    return Error::Ok;
+}
 static Error disable_alarm_lock(const char* value, WebUI::AuthenticationLevel auth_level, Print& out) {
     if (sys.state == State::ConfigAlarm) {
         return Error::ConfigurationInvalid;
-    } else if (sys.state == State::Alarm) {
-        // Block if safety door is ajar.
-        if (config->_control->system_check_safety_door_ajar()) {
-            return Error::CheckDoor;
+    }
+    if (sys.state == State::Alarm) {
+        Error err = isStuck();
+        if (err != Error::Ok) {
+            return err;
         }
         report_feedback_message(Message::AlarmUnlock);
         sys.state = State::Idle;
@@ -214,12 +228,12 @@ static Error home(int cycle) {
     if (sys.state == State::ConfigAlarm) {
         return Error::ConfigurationInvalid;
     }
-
     if (!Machine::Axes::homingMask) {
         return Error::SettingDisabled;
     }
-    if (config->_control->system_check_safety_door_ajar()) {
-        return Error::CheckDoor;  // Block if safety door is ajar.
+    Error err = isStuck();
+    if (err != Error::Ok) {
+        return err;
     }
     sys.state = State::Homing;  // Set system state variable
 

diff --git a/FluidNC/src/Protocol.cpp b/FluidNC/src/Protocol.cpp
@@ -34,6 +34,7 @@ std::map<ExecAlarm, const char*> AlarmNames = {
     { ExecAlarm::HomingFailPulloff, "Homing Fail Pulloff" },
     { ExecAlarm::HomingFailApproach, "Homing Fail Approach" },
     { ExecAlarm::SpindleControl, "Spindle Control" },
+    { ExecAlarm::ControlPin, "Control Pin Initially On" },
 };
 
 volatile Accessory rtAccessoryOverride;  // Global realtime executor bitflag variable for spindle/coolant overrides.
@@ -95,11 +96,13 @@ void protocol_reset() {
     rtSleep                   = false;
     rtCycleStop               = false;
     rtAccessoryOverride.value = 0;
-    rtAlarm                   = ExecAlarm::None;
     rtFOverride               = FeedOverride::Default;
     rtROverride               = RapidOverride::Default;
     rtSOverride               = SpindleSpeedOverride::Default;
     spindle_stop_ovr.value    = 0;
+
+    // Do not clear rtAlarm because it might have been set during configuration
+    // rtAlarm = ExecAlarm::None;
 }
 
 static int32_t idleEndTime = 0;
@@ -699,7 +702,7 @@ void protocol_exec_rt_system() {
         protocol_do_macro(1);
     }
     if (rtButtonMacro2) {
-        rtButtonMacro0 = false;
+        rtButtonMacro2 = false;
         protocol_do_macro(2);
     }
     if (rtButtonMacro3) {

diff --git a/FluidNC/src/Protocol.h b/FluidNC/src/Protocol.h
@@ -90,9 +90,10 @@ enum class ExecAlarm : uint8_t {
     HomingFailPulloff  = 8,
     HomingFailApproach = 9,
     SpindleControl     = 10,
+    ControlPin         = 11,
 };
 
-extern volatile ExecAlarm rtAlarm;  // Global realtime executor bitflag variable for setting various alarms.
+extern volatile ExecAlarm rtAlarm;  // Global realtime executor variable for setting various alarms.
 
 #include <map>
 extern std::map<ExecAlarm, const char*> AlarmNames;